CN111976670B - Vehicle energy recovery device, vehicle energy recovery method, and storage medium - Google Patents

Vehicle energy recovery device, vehicle energy recovery method, and storage medium Download PDF

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Publication number
CN111976670B
CN111976670B CN202010898289.9A CN202010898289A CN111976670B CN 111976670 B CN111976670 B CN 111976670B CN 202010898289 A CN202010898289 A CN 202010898289A CN 111976670 B CN111976670 B CN 111976670B
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China
Prior art keywords
brake pedal
slip rate
energy recovery
controlling
preset
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CN202010898289.9A
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Chinese (zh)
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CN111976670A (en
Inventor
杨洪震
李晶晶
刘雪冰
郭玉祥
曹凤明
程东东
谢宜松
黄子鑫
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Anhui Jianghuai Automobile Group Corp
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Anhui Jianghuai Automobile Group Corp
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Priority to CN202010898289.9A priority Critical patent/CN111976670B/en
Publication of CN111976670A publication Critical patent/CN111976670A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/02—Brake-action initiating means for personal initiation
    • B60T7/04—Brake-action initiating means for personal initiation foot actuated
    • B60T7/042—Brake-action initiating means for personal initiation foot actuated by electrical means, e.g. using travel or force sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Regulating Braking Force (AREA)

Abstract

The invention discloses a vehicle energy recovery device, which comprises a brake pedal, an energy recovery sensor and a mechanical braking structure which are sequentially connected, wherein the energy recovery sensor comprises a shell, an elastic sensing piece and a locking structure; the locking structure is used for moving relative to the shell, so that the locking structure is separated from the brake pedal to enable the brake pedal to move in the shell or abut against the brake pedal to limit the movement of the brake pedal in the shell, and the elastic sensing piece is used for abutting against the brake pedal and detecting the abutting pressure of the brake pedal. The invention also discloses a vehicle energy recovery method and a computer readable storage medium. According to the vehicle energy recovery device and method, the vehicle energy loss is reduced, and the energy recovery ratio is improved.

Description

Vehicle energy recovery device, vehicle energy recovery method, and storage medium
Technical Field
The invention relates to the field of new energy automobiles, in particular to a vehicle energy recovery device, a vehicle energy recovery method and a storage medium.
Background
In order to prolong the endurance mileage of the new energy automobile as much as possible, a part of energy is recovered by arranging an energy recovery device. A driving motor of the vehicle applies forward torque to drive the vehicle to run, and applies reverse torque to charge a driving battery, namely, energy recovery is carried out; the existing vehicle energy recovery device mostly combines the sliding energy recovery and the braking energy recovery. When the recovery torque is larger, more electric quantity can be recovered, but the vehicle can be decelerated too fast; at this time, in order to maintain a better speed, the driver needs to step on the accelerator again to accelerate the vehicle, so that the power battery is frequently charged and discharged, and the energy loss is increased.
Therefore, there is a need to provide a new type of capacity recovery device to solve the above technical problems.
Disclosure of Invention
The invention mainly aims to provide a vehicle energy recovery device, a vehicle energy recovery method and a storage medium, and aims to solve the technical problem that the existing energy recovery device is low in capacity utilization rate.
In order to achieve the above object, the present invention provides a vehicle energy recovery device, which includes a brake pedal, an energy recovery sensor and a mechanical braking structure, which are connected in sequence, wherein the energy recovery sensor includes a housing, an elastic sensing member and a locking structure, the housing is connected to the locking structure, the elastic sensing member is accommodated in the housing, and one end of the brake pedal is inserted into the housing and abuts against the elastic sensing member; the locking structure is used for moving relative to the shell so as to be separated from the brake pedal to enable the brake pedal to move in the shell or abut against the brake pedal to limit the movement of the brake pedal in the shell, and the elastic sensing piece is used for abutting against the brake pedal and detecting the abutting pressure of the brake pedal.
Preferably, the casing is provided with a through hole, the locking structure comprises a limiting rod inserted into the through hole and a driving piece for driving the limiting rod to be inserted into or pulled out of the casing, the limiting rod is used for being inserted into the casing and abutted against the brake pedal so as to limit the movement of the brake pedal in the casing or be pulled out of the casing and separated from the brake pedal.
The invention also provides a vehicle energy recovery method for the vehicle energy recovery apparatus as described above, including:
acquiring the current residual electric quantity of a vehicle power battery in real time, and judging whether the current residual electric quantity is greater than a preset electric quantity threshold value or not;
if the current residual electric quantity is larger than a preset electric quantity threshold value, controlling the locking structure to move relative to the shell and abut against the brake pedal;
and if the current residual electric quantity is less than or equal to the preset electric quantity threshold value, controlling the locking structure to be separated from the brake pedal, and entering an energy recovery mode to operate.
Preferably, if the current remaining power is less than or equal to a preset power threshold, the locking structure is controlled to be separated from the brake pedal, and the energy recovery mode is entered to operate, and the method includes the following steps:
if the current residual electric quantity is less than or equal to a preset electric quantity threshold value, controlling the locking structure to be separated from the brake pedal;
and detecting the compression value of the elastic sensing piece in real time, and controlling the driving motor to operate at the braking torque corresponding to the compression value so as to charge the power battery.
Preferably, after the step of controlling the locking structure to be separated from the brake pedal if the current remaining power is less than or equal to the preset power threshold, the method further includes:
and receiving the stepping of a user, controlling the driving motor to operate at the braking torque corresponding to the maximum compression value under the condition that the pressure of the user for stepping the brake pedal is greater than the deformation force corresponding to the maximum compression value of the elastic sensing piece, and controlling the mechanical braking structure to brake according to the pressure of the user for stepping the brake pedal.
Preferably, if the compression value is smaller than the maximum compression value, the step of controlling the motor to operate at the braking torque corresponding to the compression value comprises:
acquiring a current wheel slip rate in real time, and judging whether the current wheel slip rate is smaller than a first preset slip rate or not;
if the current wheel slip rate is greater than or equal to a first preset slip rate, controlling the driving motor to reduce the braking torque, and controlling the driving motor to operate at the reduced braking torque;
and if the current wheel slip rate is smaller than a first preset slip rate, controlling the driving motor to operate at the braking torque corresponding to the compression value.
Preferably, the step of controlling the driving motor to reduce the braking torque if the current wheel slip ratio is greater than or equal to a first preset slip ratio is followed by:
acquiring a current wheel slip rate in real time, and judging whether the current wheel slip rate is smaller than a second preset slip rate, wherein the second preset slip rate is smaller than a first preset slip rate;
if the current wheel slip rate is smaller than a second preset slip rate, controlling the driving motor to increase the braking torque, controlling the driving motor to operate with the increased braking torque, and executing: and the step of acquiring the current wheel slip rate in real time and judging whether the current wheel slip rate is smaller than a first preset slip rate or not.
Preferably, the step of receiving the user's step, in a case that the pressure of the user stepping on the brake pedal is greater than the elastic force corresponding to the maximum compression value of the elastic sensing member, controlling the driving motor to operate with the braking torque corresponding to the maximum compression value, and controlling the mechanical braking structure to brake according to the pressure of the user stepping on the brake pedal includes:
acquiring a current wheel slip rate in real time, and judging whether the current wheel slip rate is smaller than a first preset slip rate or not;
if the current wheel slip rate is greater than or equal to a first preset slip rate, controlling an electromagnetic valve of an ABS system to release pressure, and controlling a driving motor to reduce braking torque;
and if the current wheel slip rate is smaller than a first preset slip rate, controlling the driving motor to operate at a braking torque corresponding to the maximum compression value, and controlling the mechanical braking structure to brake according to the pressure of the user for stepping on the brake pedal.
Preferably, the step of controlling a solenoid valve in the ABS system to release pressure and controlling a motor to reduce braking torque if the current wheel slip ratio is greater than or equal to a first preset slip ratio comprises:
acquiring the current wheel slip rate in real time, and judging whether the current wheel slip rate is smaller than a second preset slip rate or not;
if the current wheel slip rate is smaller than a second preset slip rate, controlling an electromagnetic valve in the ABS system to pressurize, controlling a driving motor to increase braking torque, and executing: and the step of obtaining the current wheel slip rate and judging whether the current wheel slip rate is smaller than a first preset slip rate or not.
To achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the vehicle energy recovery method as described above.
According to the vehicle energy recovery device, the vehicle energy recovery method and the computer-readable storage medium, the energy recovery sensor is arranged, so that when a user steps on a brake pedal, force application can act on the elastic sensing piece, and a mechanical brake structure does not respond; by arranging the locking structure, the movement of the brake pedal in the shell can be locked when the power battery has sufficient storage capacity, so that the mechanical brake structure responds to the situation that the power battery is not stored when a user steps on the brake pedal; the power battery can be separated from the brake pedal through the locking structure when the power battery is to be charged, the brake pedal is arranged in the shell and abuts against the elastic sensing piece, when a user tramples the brake pedal, the abutting pressure detected by the elastic sensing piece controls the braking torque of the motor, and therefore mechanical braking and braking energy recovery can be controlled according to different conditions, frequent charging and discharging of the power battery are avoided, and the energy utilization rate is improved.
Drawings
FIG. 1 is a schematic view showing the overall structure of an embodiment of a vehicle energy recovery apparatus according to the present invention;
FIG. 2 is a schematic view, partly in section, of an embodiment of the vehicle energy recovery apparatus of the present invention;
FIG. 3 is a schematic flow chart of a first embodiment of a vehicle energy recovery method of the present invention;
FIG. 4 is a detailed schematic diagram of the flow of step S30 in the first embodiment of the vehicle energy recovery method according to the invention;
FIG. 5 is a schematic partial flow chart diagram of a second embodiment of a vehicle energy recovery method of the present invention;
FIG. 6 is a schematic partial flow chart diagram of a third embodiment of a vehicle energy recovery method of the present invention;
fig. 7 is a schematic flow chart of a vehicle energy recovery method according to a fourth embodiment of the invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1 and 2, the vehicle energy recovery device comprises a brake pedal 1, an energy recovery sensor 2 and a mechanical brake structure 3 which are sequentially connected, wherein the energy recovery sensor 2 comprises a shell 4, an elastic sensing piece 5 and a locking structure 6, the shell 4 is connected with the locking structure 6, the elastic sensing piece 5 is accommodated in the shell 4, and one end of the brake pedal 1 is inserted into the shell 4 and abuts against the elastic sensing piece 5; the locking structure 6 is used for moving relative to the housing 4 so as to be separated from the brake pedal 1 or lock the movement of the brake pedal 1 in the housing 4, and the elastic sensing piece 5 is used for abutting against the brake pedal 1 and detecting the abutting pressure of the brake pedal 1.
Specifically, when the residual electric quantity of the power battery is sufficient, the brake pedal and the shell 4 can be locked through the locking structure 6, so that the brake pedal and the shell 4 move together, the brake mechanism 3 connected with the shell 4 is driven to move, and mechanical braking is realized; when the power battery is to be charged, the power battery can move relative to the shell 4 through the locking structure 6, the locking structure 6 is separated from the brake pedal 1, the brake pedal 1 moves in the shell 4 and abuts against the elastic sensing piece 5, and the elastic sensing piece 5 can further control the size of braking torque according to the detected abutting pressure, namely the size of energy recovery. Elastic induction member 5 specifically can be that elasticity resets and is used for detecting the displacement sensor that elasticity reset an elastic deformation to make elasticity reset that the piece promotes brake pedal 1 and resets, displacement sensor detects the displacement volume that elasticity reset the piece simultaneously.
According to the invention, by arranging the energy recovery sensor 2, when a user steps on the brake pedal 1, the force application can act on the elastic induction piece 5, so that the mechanical brake structure 3 does not respond; the locking structure 6 is arranged, so that the movement of the brake pedal 1 in the shell 4 can be locked when the power battery has sufficient storage capacity, and the mechanical brake structure 3 responds to the situation that the power battery is not stored when a user steps on the brake pedal 1; when the power battery is to be charged, the power battery can be separated from the brake pedal 1 through the locking structure 6, the brake pedal 1 is pressed against the elastic sensing piece 5 in the shell 4, and when a user tramples the brake pedal 1, the size of the braking torque of the motor can be controlled through the pressing force detected by the elastic sensing piece 5, so that mechanical braking and braking energy recovery are controlled according to different conditions, frequent charging and discharging of the power battery are avoided, and the energy utilization rate is improved.
Furthermore, a through hole 8 is formed in the housing 4, the locking structure 6 includes a limiting rod 7 inserted into the through hole 8 and a driving member 10 for driving the limiting rod 7 to be inserted into or pulled out of the housing 4, and the limiting rod 7 is used for being inserted into the housing 4 and abutting against the brake pedal 1 so as to limit the movement of the brake pedal 1 in the housing 4; or drawn out of the housing 4 to be separated from the brake pedal 1.
In the embodiment shown in fig. 2, the number of locking structures 6 is two, and the locking structures 6 extend into the housing 4 from opposite sides of the housing 4. The driving part 10 can be a motor, and an internal thread can be arranged in the through hole 8, so that the motor drives the limiting rod 7 to rotate, and the limiting rod 7 rotates along the internal thread to be inserted into the shell 4 or extend out of the shell. The brake pedal 1 is locked or separated by arranging the limiting rod 7.
In the embodiment shown in fig. 1, two opposite guide grooves 9 are formed in the inner side wall of the housing 4, a limiting protrusion is arranged at one end of the brake pedal inserted into the housing 4, and the limiting protrusion moves along the guide grooves 9 to prevent the brake pedal 1 from deviating during movement. The projection of the elastic induction member 5 falls on the end of the brake pedal 1 inserted into the housing 4.
It will be appreciated by those skilled in the art that the energy recovery device illustrated in fig. 1 and 2 does not constitute a limitation of the device and may include more or fewer components than those illustrated, or some components may be combined, or a different arrangement of components.
The present invention also provides a vehicle energy recovery method, and referring to fig. 3, in a first embodiment of the vehicle energy recovery method of the present invention, the steps of the vehicle energy recovery method include:
and step S10, acquiring the current residual capacity of the vehicle power battery in real time, and judging whether the current residual capacity is larger than a preset capacity threshold value.
The vehicle power battery may specifically be a power source that provides driving force for the vehicle to move the vehicle. The current remaining capacity refers to a ratio of a remaining dischargeable capacity to a capacity in its fully charged state after the battery is used for a certain period of time or left unused for a long period of time. The preset electric quantity threshold is an electric quantity value set by a user according to actual needs, in the embodiment, the preset electric quantity threshold is set to be 95%, and when the current residual electric quantity is greater than 95%, the power battery is not suitable for high-power charging.
And step S20, if the current residual capacity is larger than a preset capacity threshold, controlling the locking structure to move relative to the shell and abut against the brake pedal.
The driving parts which can respectively control the locking structures respectively drive the limiting rods to rotate so that the limiting rods are inserted into the shell and are abutted to the brake pedal.
The current residual capacity is greater than and predetermines the electric quantity threshold value, then indicates that residual capacity is sufficient in the battery, is not suitable for charging, and steerable locking structure is relative this moment the casing remove and with brake pedal butt for brake pedal and casing together remove, step on the brake pedal when the user, brake pedal, casing and arrestment mechanism together move, realize mechanical braking, energy recuperation sensor is out of work. Further, the energy recovery sensor response or the energy recovery system response corresponding to the energy recovery sensor may be disabled synchronously via a Vehicle Control Unit (VCU) and a drive Motor Controller (MCU).
And step S30, if the current residual electric quantity is less than or equal to the preset electric quantity threshold value, controlling the locking structure to be separated from the brake pedal, and entering an energy recovery mode to operate.
And if the current residual electric quantity is less than or equal to the preset electric quantity threshold value, the power battery is in a state to be charged, and high-power charging can be carried out. The energy recovery mode is specifically an operation mode in which the drive motor is controlled to move with the braking torque to charge the drive battery.
Referring to fig. 4, step S30 includes:
step S31, if the current residual electric quantity is less than or equal to a preset electric quantity threshold value, controlling the locking structure to be separated from the brake pedal;
and step S32, detecting the compression value of the elastic sensing piece in real time, and controlling the driving motor to operate at the braking torque corresponding to the compression value so as to charge the power battery.
The compression value is a compression displacement value, and the corresponding relation between the compression value and the braking torque is obtained through calculation of a preset calculation formula or through summary of preset experimental data. When the current residual electric quantity is less than or equal to the preset electric quantity threshold value, the locking structure can move relative to the shell, the locking structure is separated from the brake pedal, the brake pedal can move in the shell to abut against the elastic sensing piece, and the elastic sensing piece can further control the driving motor to charge the driving battery by using the braking torque movement according to the detected abutting pressure or compression value.
According to the invention, by arranging the energy recovery sensor and comparing the current residual electric quantity with the preset circuit threshold value, the movement of the brake pedal in the shell can be locked when the power battery has sufficient storage capacity, so that the mechanical brake structure responds when a user steps on the brake pedal, and the power battery is not stored; when the power battery is to be charged, the power battery can be separated from the brake pedal through the locking structure, the brake pedal abuts against the elastic sensing piece in the shell, and the size of the braking torque of the motor can be controlled through the abutting pressure detected by the elastic sensing piece when a user treads the brake pedal, so that mechanical braking and braking energy recovery are controlled according to different conditions, frequent charging and discharging of the power battery are avoided, and the energy utilization rate is improved; through realizing the locking brake pedal is in removal in the casing for the user is when trampling brake pedal, and mechanical braking structure can make a response immediately with brake pedal together motion, avoids the user to trample brake pedal and the phenomenon of idle stroke appears, promotes the user and drives the impression.
Further, referring to fig. 5, fig. 5 is a diagram illustrating a second embodiment of the vehicle energy recovery method according to the first embodiment of the vehicle energy recovery method of the present invention, wherein the step S31 is followed by:
step S311, receiving the stepping of the user, controlling the driving motor to operate at the braking torque corresponding to the maximum compression value under the condition that the pressure of the user for stepping the brake pedal is greater than the elastic force corresponding to the maximum compression value of the elastic sensing piece, and controlling the mechanical braking structure to brake according to the pressure of the user for stepping the brake pedal.
In this embodiment, the maximum compression value is the maximum value of the elastic sensing member compressible in the housing, when the elastic sensing member is compressed to a value incapable of being further compressed, a part of force of a user stepping on the brake pedal is used for overcoming the deformation force of the elastic sensing member, and a part of force is used for pushing the connecting rod of the mechanical braking structure, so that the mechanical braking structure can perform mechanical braking according to the pressure received by the connecting rod, thereby providing the braking force required by the user, and ensuring the driving safety of the user.
When the user tramples the pressure of brake pedal is less than under the elastic force that the maximum compression value of elastic sensing piece corresponds, demand to vehicle braking is less, and the pressure that the user trampled the brake pedal can only overcome the deformation power of elastic sensing piece for mechanical braking structure can not take place the displacement, and mechanical braking structure does not carry out mechanical braking promptly, only through driving motor this moment with the braking torque operation that the compression value corresponds brakes, charges for power battery simultaneously. In the present invention, the demand for vehicle braking is smaller and larger, but in comparison, does not represent the magnitude of the demand for actual vehicle braking.
This embodiment is through setting up the elastic induction spare for can be according to user's different demands, confirm to brake or driving motor braking and mechanical braking together brake through only using driving motor, thereby under the energy recuperation condition of guaranteeing the at utmost, satisfy the emergency braking demand.
Further, referring to fig. 6, fig. 6 is a third embodiment of the vehicle energy recovery method according to the first embodiment of the vehicle energy recovery method of the present invention, and in this embodiment, after step S32, the method further includes:
step S314, acquiring the current wheel slip rate in real time, and judging whether the current wheel slip rate is smaller than a first preset slip rate or not;
step S315, if the current wheel slip rate is larger than or equal to a first preset slip rate, controlling the driving motor to reduce the braking torque, and controlling the driving motor to operate with the reduced braking torque;
step S316, if the current wheel slip rate is smaller than a first preset slip rate, controlling a driving motor to operate at a braking torque corresponding to the compression value;
and if the current wheel slip rate is greater than or equal to a first preset slip rate, not processing.
It should be noted that the current wheel slip rate is obtained by real-time monitoring of a wheel speed sensor on a wheel, and is sent to the vehicle VCU to be compared with the first preset slip rate. In this embodiment, the first predetermined slip ratio is 25% and the second predetermined slip ratio is 15%. How much the braking torque is increased or decreased can be calculated according to the acceleration of the driving motor and the vehicle mass, and an adaptive increasing value or decreasing value can be set by a person skilled in the art, specifically, the braking torque can be gradually decreased/increased to a preset value or decreased/increased to the preset value at one time.
When the current wheel slip rate is larger than or equal to the first preset slip rate, the wheel is indicated to be locked, and the locking phenomenon is avoided and the vehicle using safety is improved by setting a smaller braking torque.
Step S315 is followed by:
step S317, acquiring the current wheel slip rate in real time, and judging whether the current wheel slip rate is smaller than a second preset slip rate or not;
step S318, if the current wheel slip ratio is smaller than a second preset slip ratio, controlling the motor to increase the braking torque, controlling the driving motor to operate with the increased braking torque, and then executing step S314.
The embodiment controls the driving motor to increase or reduce the braking torque by monitoring and acquiring the vehicle slip rate at the current moment in real time, keeps the current vehicle slip rate between the second preset slip rate and the first preset slip rate, and ensures the safe driving of the vehicle under the condition of ensuring the maximum energy recovery requirement.
Further, referring to fig. 7, fig. 7 is a diagram illustrating a fourth embodiment of the vehicle energy recovery method according to the second embodiment of the invention, and in this embodiment, after step S311, the method includes:
step S319, acquiring the current wheel slip rate in real time, and judging whether the current wheel slip rate is smaller than a first preset slip rate or not;
step S321, if the current wheel slip rate is greater than or equal to a first preset slip rate, controlling an electromagnetic valve of an ABS (anti-lock brake system) to release pressure, and controlling a driving motor to reduce braking torque.
And step S322, if the current wheel slip rate is smaller than a first preset slip rate, controlling the driving motor to operate at a braking torque corresponding to the maximum compression value, and controlling the mechanical braking structure to brake according to the pressure of the user for stepping the brake pedal.
Step S321 is followed by:
step S323, acquiring the current wheel slip rate in real time, and judging whether the current wheel slip rate is smaller than a second preset slip rate.
And S324, if the current wheel slip ratio is smaller than a second preset slip ratio, controlling a solenoid valve in the ABS system to pressurize, controlling a driving motor to increase braking torque, and executing the step S319.
Like the third embodiment, when the current wheel slip ratio is greater than or equal to the first preset slip ratio, it indicates that the wheel is locked, and the electromagnetic valve of the ABS system is controlled to release pressure by a smaller braking torque, so as to avoid the locking phenomenon and improve the safety of the vehicle. The current vehicle slip rate is kept between the second preset slip rate and the first preset slip rate, and the safe driving of the vehicle is guaranteed under the condition that the maximum energy recovery requirement is guaranteed.
The vehicle slip rate at the current moment is monitored in real time and obtained, the vehicle slip rate is compared with the preset vehicle slip rate, the driving motor is controlled to increase or reduce the braking torque, a valve of an electromagnetic valve of the ABS system is controlled to pressurize or release the pressure of a vehicle brake main cylinder, the vehicle slip rate is kept between the second preset slip rate and the first preset slip rate, and the vehicle is guaranteed to run safely under the conditions of maximum energy recovery and emergency braking requirements.
Furthermore, an embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps of the vehicle energy recovery method as described above. The specific embodiment of the computer readable storage medium of the present invention is substantially the same as the embodiments of the vehicle energy recovery method described above, and will not be described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (9)

1. A vehicle energy recovery method is characterized by being used for a vehicle energy recovery device, wherein the vehicle energy recovery device comprises a brake pedal, an energy recovery sensor and a mechanical braking structure which are sequentially connected, the energy recovery sensor comprises a shell, an elastic sensing piece and a locking structure, the shell is connected with the locking structure, the elastic sensing piece is contained in the shell, and one end of the brake pedal is inserted into the shell and abutted against the elastic sensing piece; the locking structure is used for moving relative to the shell so as to be separated from the brake pedal to enable the brake pedal to move in the shell or abut against the brake pedal to limit the movement of the brake pedal in the shell, the elastic sensing piece is used for abutting against the brake pedal and detecting abutting pressure of the brake pedal, and the vehicle energy recovery method comprises the following steps:
acquiring the current residual electric quantity of a vehicle power battery in real time, and judging whether the current residual electric quantity is greater than a preset electric quantity threshold value or not;
if the current residual electric quantity is larger than a preset electric quantity threshold value, controlling the locking structure to move relative to the shell and abut against the brake pedal;
and if the current residual electric quantity is less than or equal to a preset electric quantity threshold value, controlling the locking structure to be separated from the brake pedal, detecting the compression value of the elastic sensing piece in real time, and controlling the driving motor to operate at the braking torque corresponding to the compression value so as to charge the power battery.
2. The vehicle energy recovery method according to claim 1, wherein after the step of controlling the locking structure to be separated from the brake pedal if the current remaining capacity is less than or equal to the preset capacity threshold, the method further comprises:
and receiving the stepping of a user, controlling the driving motor to operate at the braking torque corresponding to the maximum compression value under the condition that the pressure of the user for stepping the brake pedal is greater than the deformation force corresponding to the maximum compression value of the elastic sensing piece, and controlling the mechanical braking structure to brake according to the pressure of the user for stepping the brake pedal.
3. The vehicle energy recovery method according to claim 2, wherein the step of detecting the compression value of the elastic sensor in real time and controlling the driving motor to operate at the braking torque corresponding to the compression value comprises the following steps:
acquiring a current wheel slip rate in real time, and judging whether the current wheel slip rate is smaller than a first preset slip rate or not;
if the current wheel slip rate is greater than or equal to a first preset slip rate, controlling the driving motor to reduce the braking torque, and controlling the driving motor to operate at the reduced braking torque;
and if the current wheel slip rate is smaller than a first preset slip rate, controlling the driving motor to operate at the braking torque corresponding to the compression value.
4. The vehicle energy recovery method according to claim 3, wherein the step of controlling the driving motor to reduce the braking torque if the current wheel slip ratio is greater than or equal to a first preset slip ratio is followed by:
acquiring a current wheel slip rate in real time, and judging whether the current wheel slip rate is smaller than a second preset slip rate, wherein the second preset slip rate is smaller than a first preset slip rate;
if the current wheel slip rate is smaller than a second preset slip rate, controlling the driving motor to increase the braking torque, controlling the driving motor to operate with the increased braking torque, and executing: and the step of acquiring the current wheel slip rate in real time and judging whether the current wheel slip rate is smaller than a first preset slip rate or not.
5. The energy recovery method for vehicle according to claim 2, wherein the step of receiving the user's step, controlling the driving motor to operate with the braking torque corresponding to the maximum compression value when the user's step on the brake pedal is greater than the elastic force corresponding to the maximum compression value of the elastic sensing member, and controlling the mechanical braking structure to brake according to the user's step on the brake pedal comprises:
acquiring a current wheel slip rate in real time, and judging whether the current wheel slip rate is smaller than a first preset slip rate or not;
if the current wheel slip rate is greater than or equal to a first preset slip rate, controlling an electromagnetic valve of an ABS system to release pressure, and controlling a driving motor to reduce braking torque;
and if the current wheel slip rate is smaller than a first preset slip rate, controlling the driving motor to operate at a braking torque corresponding to the maximum compression value, and controlling the mechanical braking structure to brake according to the pressure of the user for stepping on the brake pedal.
6. The vehicle energy recovery method according to claim 5, wherein the step of controlling a solenoid valve in the ABS system to release pressure and controlling the motor to reduce braking torque if the current wheel slip ratio is greater than or equal to a first preset slip ratio is followed by the step of:
acquiring the current wheel slip rate in real time, and judging whether the current wheel slip rate is smaller than a second preset slip rate or not;
if the current wheel slip rate is smaller than a second preset slip rate, controlling an electromagnetic valve in the ABS system to pressurize, controlling a driving motor to increase braking torque, and executing: and the step of obtaining the current wheel slip rate and judging whether the current wheel slip rate is smaller than a first preset slip rate or not.
7. A vehicle energy recovery device is characterized by comprising a brake pedal, an energy recovery sensor and a mechanical brake structure which are sequentially connected, wherein the energy recovery sensor comprises a shell, an elastic induction piece and a locking structure, the shell is connected with the locking structure, the elastic induction piece is contained in the shell, and one end of the brake pedal is inserted into the shell and is abutted against the elastic induction piece; the locking structure is used for moving relative to the shell so as to be separated from the brake pedal to enable the brake pedal to move in the shell or abut against the brake pedal to limit the movement of the brake pedal in the shell, the elastic sensing piece is used for abutting against the brake pedal and detecting the abutting pressure of the brake pedal, and the vehicle energy recovery device is used for realizing the steps of the vehicle energy recovery method according to any one of claims 1 to 6.
8. The vehicle energy recovery device according to claim 7, wherein the housing has a through hole, the locking structure includes a limiting rod inserted into the through hole and a driving member for driving the limiting rod to be inserted into or withdrawn from the housing, and the limiting rod is adapted to be inserted into the housing and abut against the brake pedal to limit movement of the brake pedal in the housing or be withdrawn from the housing and separate from the brake pedal.
9. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, carries out the steps of the vehicle energy recovery method according to any one of claims 1 to 6.
CN202010898289.9A 2020-08-31 2020-08-31 Vehicle energy recovery device, vehicle energy recovery method, and storage medium Active CN111976670B (en)

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FR3042288A1 (en) * 2015-10-09 2017-04-14 Peugeot Citroen Automobiles Sa BRAKE PEDAL DEVICE FOR A RECUPERATIVE BRAKE SYSTEM OF A MOTOR VEHICLE
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CN102470830A (en) * 2009-09-25 2012-05-23 米其林技术公司 Mixed braking device with optimised control
FR3042288A1 (en) * 2015-10-09 2017-04-14 Peugeot Citroen Automobiles Sa BRAKE PEDAL DEVICE FOR A RECUPERATIVE BRAKE SYSTEM OF A MOTOR VEHICLE

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